From b57e4482322a94ff6db9d9d4df7bf281f8f541aa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 Dec 2024 22:55:17 -0500
Subject: [PATCH] DiscreteConditional evaluate method for conditionals

---
 gtsam/discrete/DiscreteConditional.cpp | 7 ++++++-
 gtsam/discrete/DiscreteConditional.h   | 3 +++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index eeb5dca3f..7db602795 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -24,13 +24,13 @@
 #include <gtsam/hybrid/HybridValues.h>
 
 #include <algorithm>
+#include <cassert>
 #include <random>
 #include <set>
 #include <stdexcept>
 #include <string>
 #include <utility>
 #include <vector>
-#include <cassert>
 
 using namespace std;
 using std::pair;
@@ -478,6 +478,11 @@ double DiscreteConditional::evaluate(const HybridValues& x) const {
   return this->evaluate(x.discrete());
 }
 
+/* ************************************************************************* */
+double DiscreteConditional::evaluate(const Assignment<Key>& values) const {
+  return BaseFactor::evaluate(values);
+}
+
 /* ************************************************************************* */
 double DiscreteConditional::negLogConstant() const { return 0.0; }
 
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index 3ec9ae590..c44a59577 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -249,6 +249,9 @@ class GTSAM_EXPORT DiscreteConditional
    */
   double evaluate(const HybridValues& x) const override;
 
+  /// Evaluate the conditional given values.
+  virtual double evaluate(const Assignment<Key>& values) const override;
+
   using BaseConditional::operator();  ///< HybridValues version
 
   /**